CN214383679U

CN214383679U - Force sensing speed control handle

Info

Publication number: CN214383679U
Application number: CN202120169937.7U
Authority: CN
Inventors: 邵云杰; 潘春江; 陶圣; 徐强; 章俊超; 曹健斌; 王耀明
Original assignee: Zhejiang Jinhua Winner Mechanical Co ltd
Current assignee: Zhejiang Jinhua Winner Mechanical Co ltd
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2021-10-12
Anticipated expiration: 2031-01-21
Also published as: WO2022156199A1

Abstract

The utility model provides a problem that the control mode of electric fork truck control handle among the prior art uses inconveniently, appears the potential safety hazard easily, proposes a force induction speed control handle, belongs to haulage equipment technical field, including the handle cylinder, install the handle in the handle main part, install the sensor in the handle, install the control box in the handle main part, be equipped with lifting button, interlocking button, loudspeaker button, urgent reverse button on the control box, still be equipped with the stress direction and the stress value size that detect the sensor in the control box and make the signal processing circuit board of corresponding control output according to the stress direction and the stress value size of the sensor that detect, the sensor can detect pulling force and thrust, and then drive fork truck and go forward or retreat; the operation speed of the forklift can be determined according to the detected pulling force or pushing force, and the control is more intelligent.

Description

Force sensing speed control handle

Technical Field

The utility model belongs to the technical field of the haulage equipment, concretely relates to force induction speed control handle.

Background

The manual forklift is widely used in the transportation industry, has the advantages of small structure and flexible use, and can work in various complex environments, the existing manual forklift mainly depends on manpower to pull the forklift to walk, which is inconvenient in use, so that the forklift capable of electrically driving to walk appears, but the control mode of the existing electric forklift generally controls the walking speed of the forklift through a Hall type rotating handle accelerator on a handle, and the control mode has a plurality of problems in use, such as too low damping of a return spring of a handle accelerator, too high acceleration easily occurs due to the working condition that the electric forklift is frequently started and stopped, a speed signal required by the operator is difficult to control under the condition that the proficiency of the operator is not high, and a user may cleverly hold and push and pull the handle when an emergency occurs, and cannot release the handle accelerator in time, may lead to safety concerns.

Disclosure of Invention

The utility model discloses control mode to electric fork truck's among the prior art brake valve lever uses the problem inconvenient, the potential safety hazard appears easily, provides a force induction speed brake valve lever.

The invention aims to be realized by the following technical scheme: a force sensing speed control handle comprises a handle main body, wherein a handle is mounted on the handle main body, a sensor for detecting the stress condition of the handle is mounted in the handle, a control box is mounted on the handle main body, a lifting button, an interlocking button, a horn button and an emergency reverse button are arranged on the control box, and a signal processing circuit board for detecting the stress direction and the stress value of the sensor and performing corresponding control output according to the detected stress direction and the detected stress value of the sensor is further arranged in the control box; the signal processing circuit board comprises a stress detection module, a power supply module and an MCU (microprogrammed control unit), wherein the stress detection module comprises an operational amplifier U5, and an analog quantity signal of the sensor is amplified and transmitted to the MCU by the operational amplifier U5; the power supply module comprises a power supply management chip U2, and the power supply management chip U2 converts a +24V input power supply into a +5V power supply required by the signal processing circuit board; the No. 1 pin of the MCU receives a signal from an operational amplifier U5, the No. 19 pin of the MCU is a PWM output pin, and the No. 20 pin of the MCU is a direction signal output pin.

In the above scheme, this power induction speed control handle installs on fork truck, is applied to fork truck's electric control. The lifting button on the control box is connected with a lifting motor relay for controlling the forklift to lift, the horn button is directly connected with the horn, the emergency reverse button is connected with the walking motor controller, and the walking motor can obtain a reverse operation control command when the emergency reverse button is pressed, so that the forklift can run in an emergency reverse mode in the running process. The signal processing circuit board in the control box receives analog quantity signals from the sensor, the analog quantity signals are processed and amplified by the stress detection module of the signal processing circuit board and then transmitted to the MCU, the MCU outputs control commands to the controller of the walking motor of the forklift according to the stress size and direction, and the running speed and the running direction of the walking motor are controlled according to the stress size and direction. The interlocking button is not only an insurance button of the force induction speed control handle, but also a running keeping button, only when the interlocking button is pressed, the running motor of the forklift can run according to a command, but when the running motor of the forklift releases the interlocking button in the running process, the running motor of the forklift can be kept running in the speed and direction before the interlocking button is released, and the physical power of a user is saved. The output may be refreshed until the force detected by the sensor is significantly different from the force applied prior to releasing the interlock button, or the interlock button is depressed again. The control of the forklift is more intelligent.

Preferably, the handle includes grip portion and supporting part, grip portion transverse installation is in the upper end of handle main part, the grip portion is outside salient for handle main part left and right sides side, and the grip portion is located the partial symmetry setting of handle main part left and right sides, still respectively fixed mounting has the supporting part on the handle main part left and right sides side, the other end of two supporting parts respectively with two tip fixed connection of grip portion, the inside grip portion that is located handle main part left and right sides part respectively installs a sensor, two sensor parallel connection back are connected with operational amplifier U5's input. The left and right hand use habits of different users are met by installing the two sensors.

Preferably, the sensor is a two-way cantilever sensor, and the two-way cantilever sensor is a piezoresistive sensor. The bidirectional cantilever beam type sensor can detect the stress conditions in two directions on the handle, wherein one direction is pulling force and the other direction is pushing force.

Preferably, the 14 th pin of the MCU is connected with a button SW1, and the button SW1 is an interlocking button on the control box.

Preferably, a button protection cover is arranged on the emergency reverse button. The button is prevented from being erroneously operated.

Preferably, the model of the MCU is N76E003AT 20-T.

Preferably, the model of the power management chip U2 is XL1509-5.0E1, and the No. 4 pin of the power management chip U2 is connected with an external switching signal. The No. 4 pin of the power management chip U2 is the power output control pin of the chip, the power management chip U2 provides power for the signal processing circuit board, and the signal processing circuit board can be controlled to work by controlling the on-off of the No. 4 pin of the power management chip U2.

Preferably, the resistors R5, R6, R7 and R8 connected to the input terminal of the operational amplifier U5 are internal circuit structures of the sensor.

Preferably, the handle body is further provided with a control handle for unloading the control cylinder, and the control handle is provided with a connecting rod connected with a jacking cylinder of a forklift. When the forklift is lifted to a certain height and needs to descend, the control handle is only required to be pulled, the jacking pressure in the oil cylinder can be relieved through the connecting rod of the control handle, and the forklift is enabled to return to the original height.

Compared with the prior art, the utility model discloses following beneficial effect has: the sensor can detect the pulling force and the pushing force so as to drive the forklift to move forwards or backwards; the forklift can determine the running speed according to the detected pulling force or pushing force, and the higher the detected force is, the higher the running speed of the forklift is; the emergency reverse button is arranged, so that emergency situations can be prevented. The setting of interlocking button both provides the insurance for fork truck's operation, can also keep fork truck's running state at fork truck operation in-process, saves user's physical power, makes fork truck's control more intelligent.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an exploded view of the present invention;

FIG. 3 is a view showing a state of the utility model in use installed on a forklift 1;

FIG. 4 is a view showing a state of use of the present invention mounted on a forklift 2;

fig. 5 is a circuit configuration diagram of the signal processing circuit board.

The labels in the figure are: 1. A handle body; 2. a hand holding part; 3. a support portion; 4. a sensor; 5. a control box; 6. lifting button, 7, interlocking button; 8. a horn button; 9. an emergency reverse button; 10. a signal processing circuit board; 11. controlling the handle; 12. a connecting rod; 13. a button protection cover; 14. a forklift; 15. a power button.

Detailed Description

The invention will be further described with reference to the embodiments shown in the drawings to which:

example 1

As shown in fig. 1 to 4, a force sensing speed control handle comprises a handle body 1, a handle is mounted on the handle body 1, the handle comprises a handle part 2 and a support part 3, the handle part 2 is transversely mounted at the upper end of the handle body 1, the handle part 2 protrudes outwards relative to the left and right side surfaces of the handle body 1, the handle part 2 is symmetrically arranged at the left and right side parts of the handle body 1, the support parts 3 are respectively and fixedly mounted on the left and right side surfaces of the handle body 1, the other ends of the two support parts 3 are respectively and fixedly connected with the two end parts of the handle part 2, a sensor 4 is respectively mounted at the left and right side parts of the handle body inside the handle part 2, the two sensors 4 are connected in parallel and then connected with the input end of an operational amplifier U5, and the sensor 4 is a piezoresistive bidirectional cantilever sensor. The handle body 1 is also provided with a control handle 11 for unloading the control oil cylinder, and the control handle 11 is provided with a connecting rod 12 connected with a jacking oil cylinder of a forklift 14. Install control box 5 on the handle main part 1, be equipped with on the control box 5 and rise button 6, interlocking button 7, loudspeaker button 8, urgent reverse button 9, still install the button safety cover 13 that prevents this button maloperation on the urgent reverse button 9. The control box 5 is also internally provided with a signal processing circuit board 10 which is used for detecting the stress direction and the stress value of the sensor 4 and correspondingly controlling and outputting the stress direction and the stress value of the sensor 4 according to the detected stress direction and the detected stress value

As shown in fig. 5, the signal processing circuit board 10 includes a stress detection module, a power supply module, and an MCU, the stress detection module includes an operational amplifier U5, an input terminal of the operational amplifier U5 is connected to resistors R5, R6, R7, and R8, and resistors R5, R6, R7, and R8 are internal circuit structures of the sensor 4. The operational amplifier U5 amplifies the analog quantity signal of the sensor 4 and transmits the amplified signal to the MCU; the power supply module comprises a power supply management chip U2 with the model number XL1509-5.0E1, a No. 4 pin of the power supply management chip U2 is connected with a power supply button 15 on the forklift 14, and the power supply button 15 controls the power-on work of the whole forklift 14 and the power-on work of the signal processing circuit board 10 in the control box 5. The power management chip U2 converts the +24V input power into the +5V power required by the signal processing circuit board 10; no. 1 pin of the MCU receives a signal from the operational amplifier U5, No. 19 pin of the MCU is a PWM output pin capable of outputting 0-5V linear voltage, a controller connected with a walking motor on the forklift 14 controls the speed of the walking motor, and No. 20 pin of the MCU is a direction signal output pin connected with the controller of the walking motor on the forklift 14 controls the running direction of the walking motor. The 14 th pin of the MCU is connected to button SW1, which button SW1 is interlock button 7 on control box 5. The button SW1 is a safety button, and only when the button SW1 is pressed, the corresponding pin of the MCU can output the corresponding control signal to the controller of the travel motor of the forklift 14, and the forklift 14 can operate according to the corresponding command.

The force sensing speed control handle is mounted on the forklift 14 and used in cooperation with the forklift 14. A lifting button 6 on the control box 5 is connected with a lifting motor relay for controlling the lifting of the forklift 14, a horn button 8 is directly connected with a horn, and an emergency reverse button 9 is connected with a controller of a walking motor. When the power button 15 on the forklift 14 is pressed and powered on, the signal processing circuit board 10 can receive a reset signal, when a user uses the signal processing circuit board, the user pulls the handle with force, the sensor 4 arranged in the handle part 2 detects the pulling force, when the detected pulling force is smaller than 10N, the MCU has no control signal output, and the forklift 14 does not run. When the detected pulling force is between 10N and 50N, the interlocking button 7 is pressed, the 19 th pin of the MCU outputs linear 0-5V analog voltage to control the running speed of a running motor on the forklift 14, the running speed of the running motor is faster when the voltage output by the 19 th pin of the MCU is larger, and meanwhile, the 20 th pin of the MCU outputs a running direction signal of a running motor of 24V to control the forklift 14 to run towards the direction of the pulling force of a user. When the pulling force detected by the sensor 4 is greater than 50N and the interlock button 7 is pressed, the No. 19 pin of the MCU outputs 5V analog voltage to control the forklift 14 to operate at the fastest speed. When the user pushes the handle, the control logic is the same as that when the user pulls the handle, and the running direction of the motor is opposite, so that repeated description is not provided. When the interlocking button 7 is released in the running process of the running motor of the forklift 14, the running motor of the forklift 14 can be kept running at the speed and the direction before the interlocking button 7 is released until the difference between the acting force detected by the sensor 4 and the acting force before the interlocking button 7 is released is more than 50N, or the output can be refreshed after the interlocking button 7 is pressed again.

In order to prevent sudden situations, the control box 5 is also provided with an emergency reverse button 9, the emergency reverse button 9 is usually arranged in a button protective cover 13 to prevent the user from being operated by mistake, when emergency reverse is needed in case of emergency, the user can open the button protective cover 13 and press the emergency reverse button 9, the forklift 14 can immediately run in reverse, and the running speed is executed according to the original running speed.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. A force sensing speed control handle comprises a handle main body (1), and is characterized in that a handle is mounted on the handle main body (1), a sensor (4) for detecting the stress condition of the handle is mounted in the handle, a control box (5) is mounted on the handle main body (1), a lifting button (6), an interlocking button (7), a horn button (8) and an emergency reverse button (9) are arranged on the control box (5), and a signal processing circuit board (10) for detecting the stress direction and the stress value of the sensor (4) and making corresponding control output according to the detected stress direction and the stress value of the sensor (4) is further arranged in the control box (5); the signal processing circuit board (10) comprises a stress detection module, a power supply module and an MCU (microprogrammed control unit), wherein the stress detection module comprises an operational amplifier U5, and the operational amplifier U5 amplifies an analog quantity signal of the sensor (4) and transmits the amplified analog quantity signal to the MCU; the power supply module comprises a power supply management chip U2, and the power supply management chip U2 converts a +24V input power supply into a +5V power supply required by the signal processing circuit board (10); the No. 1 pin of the MCU receives a signal from an operational amplifier U5, the No. 19 pin of the MCU is a PWM output pin, and the No. 20 pin of the MCU is a direction signal output pin.

2. A force sensing speed control handle according to claim 1, wherein the grip comprises a grip portion (2) and a support portion (3), the handle part (2) is transversely arranged at the upper end of the handle main body (1), the handle part (2) protrudes outwards relative to the left side surface and the right side surface of the handle main body (1), and the holding hand parts (2) are symmetrically arranged at the left and right sides of the handle main body (1), the side surfaces of the left side and the right side of the handle main body (1) are respectively fixedly provided with a supporting part (3), the other ends of the two supporting parts (3) are respectively fixedly connected with the two end parts of the holding hand part (2), the sensor (4) is respectively installed at the left side and the right side of the handle main body (1) in the grip part (2), and the two sensors (4) are connected in parallel and then connected with the input end of an operational amplifier U5.

3. A force sensing speed control handle according to claim 1, characterized in that the sensor (4) is a two-way cantilever beam sensor and the two-way cantilever beam sensor is a piezoresistive sensor.

4. A force sensing speed control handle according to claim 1, characterized in that the 14 pin of the MCU is connected to button SW1, which button SW1 is an interlock button (7) on the control box (5).

5. A force sensing speed control handle according to claim 1, characterized in that the emergency reverse button (9) is provided with a button guard (13).

6. The force sensing speed control handle of claim 1, wherein said MCU is model N76E003AT 20-T.

7. The force sensing speed control handle according to claim 1, wherein the power management chip U2 is model XL1509-5.0E1, and pin 4 of the power management chip U2 is connected to an external switch signal.

8. A force sensing speed control handle according to claim 1, wherein the resistors R5, R6, R7, R8 connected to the input of the operational amplifier U5 are internal circuit structures of the sensor (4).

9. The force sensing speed control handle according to claim 1, wherein the handle body (1) is further provided with a control handle (11) for unloading the control cylinder, and the control handle (11) is provided with a connecting rod (12) connected with a jacking cylinder of a forklift.